Abstract [en]

Since automobiles became available to everyone, road traffic and traffic accidents became common. To fight this trend, platooning and cooperative driving are more and more talked about. It helps increase the traffic capacity of roads and decreases greenhouse gas emissions. The grand cooperative driving challenge, GCDC, is a competition that was held May 2016 in the Netherlands focusing on this type of driving.The Royal Institute of Technology, KTH, participated in the competition with the research concept vehicle competing against other teams from differ-ent universities of Europe.The objective of this thesis is to design and implement longitudinal and lateral control on the research concept vehicle, i.e., motor control by torque request and steering control by wheel angle request. Which makes it possible to enter the competition with a fully autonomous vehicle and participate in the three different scenarios.The lateral controller, is not implemented and tested in the RCV, but it is still simulated, where the capabilities of the controller, such as, for example, lane changing and error correction using crabbing, i.e., sideways motion, are presented.The longitudinal controller is fully implemented and tested, obtaining static errors very close to 0 in both velocity and distance to the front vehicle. The vehicle behaved as expected when it had to brake fast due to the front vehicle and it always kept more than the considered safety distance, this is rapidly corrected, to the right value, as soon as the front vehicle stops decelerating. It also behaved as expected, when the target being followed changes, i.e., when there is a jump in the distance being followed and it becomes small (0m), it decelerated smoothly and recovered the safety distance.